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Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties
2013
Journal of Function Spaces and Applications
The finite-time stabilization problem of dynamic nonholonomic wheeled mobile robots with parameter uncertainties is considered for the first time. By the equivalent coordinate transformation of states, an uncertain 5-order chained form system can be obtained, based on which a discontinuous switching controller is proposed such that all the states of the robots can be stabilized to the origin equilibrium point within any given settling time. The systematic strategy combines the theory of
doi:10.1155/2013/595849
fatcat:gdqplg7lazhetg7nakkrg34z7y